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WO2022182896A3 - Robots de soudage autonomes - Google Patents

Robots de soudage autonomes Download PDF

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Publication number
WO2022182896A3
WO2022182896A3 PCT/US2022/017744 US2022017744W WO2022182896A3 WO 2022182896 A3 WO2022182896 A3 WO 2022182896A3 US 2022017744 W US2022017744 W US 2022017744W WO 2022182896 A3 WO2022182896 A3 WO 2022182896A3
Authority
WO
WIPO (PCT)
Prior art keywords
seam
robot
workspace
path
welding robots
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2022/017744
Other languages
English (en)
Other versions
WO2022182896A2 (fr
Inventor
Alexander James LONSBERRY
Andrew Gordon LONSBERRY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Path Robotics Inc
Original Assignee
Path Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Path Robotics Inc filed Critical Path Robotics Inc
Priority to CA3211502A priority Critical patent/CA3211502A1/fr
Priority to EP22760420.4A priority patent/EP4297923A4/fr
Priority to JP2023575690A priority patent/JP2024508564A/ja
Priority to MX2023009878A priority patent/MX2023009878A/es
Priority to KR1020237032885A priority patent/KR102883759B1/ko
Publication of WO2022182896A2 publication Critical patent/WO2022182896A2/fr
Publication of WO2022182896A3 publication Critical patent/WO2022182896A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0258—Electric supply or control circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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    • B25J9/16—Programme controls
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    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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    • B25J9/16—Programme controls
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    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
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    • G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
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    • G—PHYSICS
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    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
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    • G06V10/00—Arrangements for image or video recognition or understanding
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    • G06V20/00—Scenes; Scene-specific elements
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    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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    • G06V20/64—Three-dimensional objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • G—PHYSICS
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35036—Correct model by comparing 3-D measured data of modified workpiece with original model
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
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    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40446—Graph based
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
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    • G—PHYSICS
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    • G05B2219/00—Program-control systems
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    • G05B2219/45104—Lasrobot, welding robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
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    • G—PHYSICS
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    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49386—Automatic seam, weld line, finding
    • G—PHYSICS
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Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Evolutionary Computation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • Human Computer Interaction (AREA)
  • Quality & Reliability (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

Selon certains exemples, l'invention concerne un système de soudage robotisé autonome qui comprend un espace de travail comprenant une pièce comportant une couture, un capteur conçu pour capturer de multiples images à l'intérieur de l'espace de travail, un robot conçu pour poser une soudure le long de la couture, et un organe de commande. L'organe de commande est configuré pour identifier la couture sur la pièce dans l'espace de travail sur la base des multiples images, pour planifier un trajet à suivre par le robot lors du soudage de la couture, le trajet comprenant de multiples configurations différentes du robot, et pour ordonner au robot de souder la couture conformément au trajet planifié.
PCT/US2022/017744 2021-02-24 2022-02-24 Robots de soudage autonomes Ceased WO2022182896A2 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CA3211502A CA3211502A1 (fr) 2021-02-24 2022-02-24 Robots de soudage autonomes
EP22760420.4A EP4297923A4 (fr) 2021-02-24 2022-02-24 Robots de soudage autonomes
JP2023575690A JP2024508564A (ja) 2021-02-24 2022-02-24 自律型溶接ロボット
MX2023009878A MX2023009878A (es) 2021-02-24 2022-02-24 Robots soldadores autonomos.
KR1020237032885A KR102883759B1 (ko) 2021-02-24 2022-02-24 오토노머스 웰딩 로봇

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202163153109P 2021-02-24 2021-02-24
US63/153,109 2021-02-24
US202163282827P 2021-11-24 2021-11-24
US63/282,827 2021-11-24

Publications (2)

Publication Number Publication Date
WO2022182896A2 WO2022182896A2 (fr) 2022-09-01
WO2022182896A3 true WO2022182896A3 (fr) 2022-11-10

Family

ID=82901371

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/US2022/017741 Ceased WO2022182894A1 (fr) 2021-02-24 2022-02-24 Robots de soudage autonomes
PCT/US2022/017744 Ceased WO2022182896A2 (fr) 2021-02-24 2022-02-24 Robots de soudage autonomes

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/US2022/017741 Ceased WO2022182894A1 (fr) 2021-02-24 2022-02-24 Robots de soudage autonomes

Country Status (7)

Country Link
US (7) US11548162B2 (fr)
EP (2) EP4297923A4 (fr)
JP (2) JP2024508564A (fr)
KR (2) KR102883751B1 (fr)
CA (2) CA3211502A1 (fr)
MX (2) MX2023009878A (fr)
WO (2) WO2022182894A1 (fr)

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JP7201764B1 (ja) * 2021-09-24 2023-01-10 株式会社ダイヘン 溶接プログラム作成システム及び溶接プログラム作成方法
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CA3239078A1 (fr) 2021-11-19 2023-05-25 Path Robotics, Inc. Techniques de reglage a base de logique d'apprentissage machine pour robots
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JP2025518426A (ja) * 2022-05-13 2025-06-17 メープル アドバンスド ロボティクス インコーポレイテッド 物体の表面フィッティング、パスプレーニング、および表面処理のためのシステムおよび方法
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WO2024156002A1 (fr) * 2023-01-20 2024-07-25 Path Robotics, Inc. Planification du balayage et opérations de balayage pour le soudage d'un objet
CN116604243B (zh) * 2023-06-21 2024-02-27 中建国际城市建设有限公司 一种智能建造用的焊接机械臂及其焊接方法
US20250018571A1 (en) * 2023-07-14 2025-01-16 Path Robotics, Inc. Techniques for path clearance planning
WO2025101196A1 (fr) 2023-11-09 2025-05-15 Path Robotics, Inc. Techniques de localisation de cordon et de mesure d'espace
EP4574329A1 (fr) * 2023-12-21 2025-06-25 Stoiber Verwaltungs GmbH Procédé de soudage par robot et dispositif de calcul d'information de soudage robotique
EP4616986A1 (fr) * 2024-03-01 2025-09-17 Magna International Inc. Système et procédé de suivi de cordon de soudure
CN118989525B (zh) * 2024-10-23 2025-03-07 国网山东省电力公司电力科学研究院 输电塔塔腿现场自动焊接方法及系统
CN119283049B (zh) * 2024-12-16 2025-07-01 山东大学 一种管幕法切割焊接机器人的协同控制方法及装置
CN120791288B (zh) * 2025-09-05 2025-12-12 四川蜀道新能源科技发展有限公司 一种焊接机器人的焊接方法及执行该焊接方法的计算机程序产品

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